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moisesmatamoisesmata
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Modified to include Led Component, zephyr gpio needs work
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10 files changed

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‎FprimeZephyrReference/Components/CMakeLists.txt‎

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# Include project-wide components here
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/FatalHandler")
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add_fprime_subdirectory("${CMAKE_CURRENT_LIST_DIR}/Led")

‎FprimeZephyrReference/Components/Led/CMakeLists.txt‎

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####
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# F Prime CMakeLists.txt:
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#
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# SOURCES: list of source files (to be compiled)
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# AUTOCODER_INPUTS: list of files to be passed to the autocoders
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# DEPENDS: list of libraries that this module depends on
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#
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# More information in the F´ CMake API documentation:
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# https://fprime.jpl.nasa.gov/latest/docs/reference/api/cmake/API/
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#
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####
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# Module names are derived from the path from the nearest project/library/framework
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# root when not specifically overridden by the developer. i.e. The module defined by
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# `Ref/SignalGen/CMakeLists.txt` will be named `Ref_SignalGen`.
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register_fprime_library(
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AUTOCODER_INPUTS
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"${CMAKE_CURRENT_LIST_DIR}/Led.fpp"
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SOURCES
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"${CMAKE_CURRENT_LIST_DIR}/Led.cpp"
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# DEPENDS
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# MyPackage_MyOtherModule
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)
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‎FprimeZephyrReference/Components/Led/Led.cpp‎

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// ======================================================================
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// \title Led.cpp
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// \author ortega
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// \brief cpp file for Led component implementation class
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// ======================================================================
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#include "FprimeZephyrReference/Components/Led/Led.hpp"
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#include "config/FpConfig.hpp"
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namespace Components {
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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Led ::Led(const char* const compName) : LedComponentBase(compName) {}
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Led ::~Led() {}
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void Led ::parameterUpdated(FwPrmIdType id) {
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Fw::ParamValid isValid = Fw::ParamValid::INVALID;
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switch (id) {
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case PARAMID_BLINK_INTERVAL: {
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// Read back the parameter value
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const U32 interval = this->paramGet_BLINK_INTERVAL(isValid);
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// NOTE: isValid is always VALID in parameterUpdated as it was just properly set
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FW_ASSERT(isValid == Fw::ParamValid::VALID, static_cast<FwAssertArgType>(isValid));
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// Emit the blink interval set event
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this->log_ACTIVITY_HI_BlinkIntervalSet(interval);
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break;
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}
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default:
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FW_ASSERT(0, static_cast<FwAssertArgType>(id));
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break;
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}
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}
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// ----------------------------------------------------------------------
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// Handler implementations for user-defined typed input ports
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// ----------------------------------------------------------------------
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void Led ::run_handler(FwIndexType portNum, U32 context) {
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// Read back the parameter value
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Fw::ParamValid isValid = Fw::ParamValid::INVALID;
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U32 interval = this->paramGet_BLINK_INTERVAL(isValid);
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FW_ASSERT((isValid != Fw::ParamValid::INVALID) && (isValid != Fw::ParamValid::UNINIT),
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static_cast<FwAssertArgType>(isValid));
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// Only perform actions when set to blinking
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if (this->m_blinking && (interval != 0)) {
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// If toggling state
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if (this->m_toggleCounter == 0) {
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// Toggle state
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this->m_state = (this->m_state == Fw::On::ON) ? Fw::On::OFF : Fw::On::ON;
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this->m_transitions++;
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this->tlmWrite_LedTransitions(this->m_transitions);
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// Port may not be connected, so check before sending output
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if (this->isConnected_gpioSet_OutputPort(0)) {
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this->gpioSet_out(0, (Fw::On::ON == this->m_state) ? Fw::Logic::HIGH : Fw::Logic::LOW);
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}
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this->log_ACTIVITY_LO_LedState(this->m_state);
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}
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this->m_toggleCounter = (this->m_toggleCounter + 1) % interval;
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}
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// We are not blinking
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else {
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if (this->m_state == Fw::On::ON) {
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// Port may not be connected, so check before sending output
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if (this->isConnected_gpioSet_OutputPort(0)) {
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this->gpioSet_out(0, Fw::Logic::LOW);
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}
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this->m_state = Fw::On::OFF;
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this->log_ACTIVITY_LO_LedState(this->m_state);
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}
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}
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}
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// ----------------------------------------------------------------------
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// Handler implementations for commands
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// ----------------------------------------------------------------------
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void Led ::BLINKING_ON_OFF_cmdHandler(FwOpcodeType opCode, U32 cmdSeq, Fw::On onOff) {
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this->m_toggleCounter = 0; // Reset count on any successful command
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this->m_blinking = Fw::On::ON == onOff; // Update blinking state
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this->log_ACTIVITY_HI_SetBlinkingState(onOff);
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this->tlmWrite_BlinkingState(onOff);
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// Provide command response
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this->cmdResponse_out(opCode, cmdSeq, Fw::CmdResponse::OK);
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}
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} // namespace Components

‎FprimeZephyrReference/Components/Led/Led.fpp‎

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module Components {
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@ Component to blink an LED driven by a rate group
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active component Led {
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@ Command to turn on or off the blinking LED
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async command BLINKING_ON_OFF(
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onOff: Fw.On @< Indicates whether the blinking should be on or off
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)
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@ Telemetry channel to report blinking state.
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telemetry BlinkingState: Fw.On
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@ Telemetry channel counting LED transitions
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telemetry LedTransitions: U64
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@ Reports the state we set to blinking.
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event SetBlinkingState($state: Fw.On) \
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severity activity high \
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format "Set blinking state to {}."
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@ Event logged when the LED turns on or off
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event LedState(onOff: Fw.On) \
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severity activity low \
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format "LED is {}"
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@ Event logged when the LED blink interval is updated
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event BlinkIntervalSet(interval: U32) \
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severity activity high \
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format "LED blink interval set to {}"
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@ Blinking interval in rate group ticks
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param BLINK_INTERVAL: U32 default 1
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@ Port receiving calls from the rate group
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async input port run: Svc.Sched
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@ Port sending calls to the GPIO driver
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output port gpioSet: Drv.GpioWrite
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###############################################################################
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# Standard AC Ports: Required for Channels, Events, Commands, and Parameters #
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###############################################################################
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@ Port for requesting the current time
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time get port timeCaller
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@ Port for sending command registrations
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command reg port cmdRegOut
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@ Port for receiving commands
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command recv port cmdIn
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@ Port for sending command responses
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command resp port cmdResponseOut
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@ Port for sending textual representation of events
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text event port logTextOut
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@ Port for sending events to downlink
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event port logOut
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@ Port for sending telemetry channels to downlink
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telemetry port tlmOut
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@ Port to return the value of a parameter
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param get port prmGetOut
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@Port to set the value of a parameter
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param set port prmSetOut
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}
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}

‎FprimeZephyrReference/Components/Led/Led.hpp‎

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// ======================================================================
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// \title Led.hpp
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// \author ortega
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// \brief hpp file for Led component implementation class
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// ======================================================================
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#ifndef Components_Led_HPP
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#define Components_Led_HPP
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#include "FprimeZephyrReference/Components/Led/LedComponentAc.hpp"
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namespace Components {
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class Led : public LedComponentBase {
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public:
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// ----------------------------------------------------------------------
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// Component construction and destruction
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// ----------------------------------------------------------------------
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//! Construct Led object
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Led(const char* const compName //!< The component name
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);
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//! Destroy Led object
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~Led();
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private :
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//! Emit parameter updated EVR
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//!
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void
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parameterUpdated(FwPrmIdType id //!< The parameter ID
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) override;
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private :
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// ----------------------------------------------------------------------
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// Handler implementations for user-defined typed input ports
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// ----------------------------------------------------------------------
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//! Handler implementation for run
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//!
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//! Port receiving calls from the rate group
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void
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run_handler(FwIndexType portNum, //!< The port number
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U32 context //!< The call order
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) override;
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private :
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// ----------------------------------------------------------------------
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// Handler implementations for commands
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// ----------------------------------------------------------------------
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//! Handler implementation for command BLINKING_ON_OFF
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//!
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//! Command to turn on or off the blinking LED
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void
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BLINKING_ON_OFF_cmdHandler(FwOpcodeType opCode, //!< The opcode
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U32 cmdSeq, //!< The command sequence number
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Fw::On onOff //!< Indicates whether the blinking should be on or off
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) override;
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Fw::On m_state = Fw::On::OFF; //! Keeps track if LED is on or off
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U64 m_transitions = 0; //! The number of on/off transitions that have occurred
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//! from FSW boot up
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U32 m_toggleCounter = 0; //! Keeps track of how many ticks the LED has been on for
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bool m_blinking = false; //! Flag: if true then LED blinking will occur else
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//! no blinking will happen
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};
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} // namespace Components
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#endif

‎FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentPackets.fppi‎

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CdhCore.version.LibraryVersion01
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}
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packet Led id 5 group 4 {
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ReferenceDeployment.led.LedTransitions
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ReferenceDeployment.led.BlinkingState
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}
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} omit {
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CdhCore.cmdDisp.CommandErrors

‎FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopology.cpp‎

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// Necessary project-specified types
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#include <Fw/Types/MallocAllocator.hpp>
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#include <zephyr/drivers/gpio.h>
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static const struct gpio_dt_spec ledGpio = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
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// Allows easy reference to objects in FPP/autocoder required namespaces
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using namespace ReferenceDeployment;
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// Rate groups require context arrays.
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rateGroup10Hz.configure(rateGroup10HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup10HzContext));
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rateGroup1Hz.configure(rateGroup1HzContext, FW_NUM_ARRAY_ELEMENTS(rateGroup1HzContext));
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gpioDriver.open(ledGpio, Zephyr::ZephyrGpioDriver::GpioDirection::OUT)
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}
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// Public functions for use in main program are namespaced with deployment name ReferenceDeployment

‎FprimeZephyrReference/ReferenceDeployment/Top/ReferenceDeploymentTopologyDefs.hpp‎

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// Include autocoded FPP constants
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#include "FprimeZephyrReference/ReferenceDeployment/Top/FppConstantsAc.hpp"
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/uart.h>
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‎FprimeZephyrReference/ReferenceDeployment/Top/instances.fpp‎

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queue size Default.QUEUE_SIZE \
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stack size Default.STACK_SIZE \
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priority 4
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instance led: Components.Led base id 0x10003000 \
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queue size Default.QUEUE_SIZE \
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stack size Default.STACK_SIZE \
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priority 5
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# ----------------------------------------------------------------------
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# Queued component instances
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instance comDriver: Zephyr.ZephyrUartDriver base id 0x10014000
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instance gpioDriver: Zephyr.ZephyrGpioDriver base id 0x10015000
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}

‎FprimeZephyrReference/ReferenceDeployment/Top/topology.fpp‎

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instance rateGroupDriver
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instance timer
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instance comDriver
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instance gpioDriver
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instance led
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# ----------------------------------------------------------------------
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# Pattern graph specifiers
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rateGroup1Hz.RateGroupMemberOut[3] -> CdhCore.tlmSend.Run
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}
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connections LedBlinker {
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# Rate Group 1 (1Hz cycle) ouput is connected to led's run input
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rateGroup1Hz.RateGroupMemberOut[4] -> led.run
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# led's gpioSet output is connected to gpioDriver's gpioWrite input
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led.gpioSet -> gpioDriver.gpioWrite
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}
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connections ReferenceDeployment {
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}

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